Soy Boy brand of pre-flavored pre-baked tofu. Get the Tofu-Lin.

It rocks. You can serve cold, sliced on sandwiches, cubed in salad.

You can slice thinly and sautee in olive oil (low to medium heat) . Serve with rice and steamed broccoli.

Ive had kids who dont like Tofu try tofu lin and love it. Its really the best flavor the brand makes. Its a staple here in the house.

Read Cancer Docs explanation about the HUGE VARIANCE in phytoestrogens depending on the type of soy and form.
http://thechart.blogs.cnn.com/2011/01/19/is-soy-linked-to-breast-cancer/

from that page:

"Even among the soy products, there are differences in terms of amount of phytoestrogen. One survey of foods found that 100 grams of flaxseed had nearly four times as much phytoestrogen as 100 grams of soybeans; 100 grams of soybeans had three times as much phytoestrogen as 100 grams of tofu, and 33 times as much as 100 grams of soy milk."

Both my kids LOVE tofu, however it is prepared. I typically just stir fry it with soy, ginger, garlic and vegetables. I've also baked it with bbq sauce, or I coat it in an egg and peanut butter sauce and lightly fry it.

We eat tofu at least three or four days a week. Often put it in miso soup with our dinner. (Yes, we are a partially Japanese family) In the summer it's nice to just have cold soft tofu with some soy sauce, ginger and green onions, though the kids prefer it plain or with soy sauce. You can do a mild mabo tofu with just tofu, ground meat, and oyster sauce. I add a little hot sesame oil and chili paste to mine to give some spice separate from what everyone else is eating. Though not seasonally appropriate, we eat quite a few hotpot type dishes like sukiyaki, mizutaki and of course yu dofu.

We eat tofu a couple of times a week, maybe, and my kids like it a lot, particularly the Twin Oaks extra firm kind. (You can find it at MOM's and Whole Foods, and to me, it tastes way better than the stuff you find in the produce section at Safeway or Giant, perhaps because it's fresher?) I usually slice it, press the water out with paper towels or a clean tea towel, cube it, and toss it in a little low-sodium tamari or soy sauce, or I marinate the slices in a little soy sauce and cook them on a grill pan, then cube them. They also like it just plain and cubed, with some baby carrots, steamed broccoli, snow peas (or whatever veg we have on hand) with some tahini sauce or peanut sauce for dipping. This peanut sauce recipe is super easy and the ingredients are things we usually have on hand: http://wholebelly.wordpress.com/2010/03/27/quick-peanut-sauce-with-tofu-cauliflower-and-brown-rice/. I've also used tahini instead of PB, and it worked great.

OP, have you tried tempeh? Its so much more interesting (and probably more healthy) than tofu.

Another meat substitute that can be so delicious is seitan. No claims made here either way about its healthfulness, but its so good.